FR3053650B1 - AUTONOMOUS DRIVING METHOD FOR A MOTOR VEHICLE - Google Patents

Abstract

Autonomous driving method for a motor vehicle (10), comprising: • an initial step of autonomous driving in a traffic lane (100), • a lane change decision step, • an information step consisting in informing the driver. driver of said lane change, • a cancellation step consisting in taking into account a lane change cancellation command ordered by the driver before or during the making of said lane change, characterized in that the cancellation step of the lane change step requires the motor vehicle to remain or return to the initial autonomous driving step.

Description

The present invention relates generally to an autonomous driving method for a motor vehicle. The present invention also relates to a driving system and a motor vehicle capable of implementing an autonomous driving method.

It is known in the prior art vehicles with a certain degree of autonomy as vehicles that can change lanes to double a slower vehicle or a stopped vehicle.

The document US9096267 discloses a method for an autonomous vehicle to change lanes when the vehicle deems necessary. In return, such a method does not allow the driver to intervene for example when the change of lane is not desirable. This means that the driver has to let the vehicle change lanes or completely disable the autonomous driving system, which can lead to safety problems.

An object of the present invention is to address this drawback and in particular to provide an autonomous driving method for driver intervention safely.

For this, a first aspect of the invention relates to an autonomous driving method for a vehicle, comprising: • an initial step of autonomous driving in a traffic lane, • a lane change decision step, • a informing step of informing the driver of said lane change, • a canceling step of taking into account a lane-canceling command ordered by the driver before or during the making of said lane change, characterized in that the step of canceling the lane change requires the motor vehicle to stay or return to the initial stage of autonomous driving.

This method allows the driver to intervene in the autonomous driving without disabling the autonomous driving system. The autonomous driving method is flexible and allows the driver to adapt the driving to his desires or circumstances not perceivable by the autonomous driving system.

Advantageously, the cancellation command is taken into account only if the vehicle is still positioned at least partially in said traffic lane. In other words, once the lane change maneuver is made and the vehicle has completely left the lane in which it was driving before changing lanes, the maneuver can no longer be canceled by the driver without disabling. the autonomous driving system. This makes it possible to avoid surprising other drivers by surprising or dangerous maneuvers.

Advantageously, the autonomous driving method further comprises a dialogue step to propose to the driver a new driving state following the return to the initial stage of autonomous driving. This step therefore allows an additional degree of interaction with the driver who is therefore involved in driving without realizing it directly.

In addition, the autonomous driving method may include an adaptation step to adapt the driving state of the vehicle as a result of returning to the initial stage of autonomous driving and / or as a result of the dialogue step . Thus, the system responds to the cancellation command of the driver and can determine a new driving state taking into account this cancellation.

For example, the driving state of the vehicle is adapted during the adaptation step based on a measurement of a traffic condition that led to the lane change decision. This may include the detection of a slower car located on the same lane, the need to take an exit or interchange to follow a pre-programmed route or the possibility of returning to a normal lane following a exceeded. The autonomous driving system therefore deduces a new driving state from the lane change cancellation command as well as from the cause that decided the lane change.

Alternatively or in combination, the driving state of the vehicle is adapted during the adaptation step according to the instructions given by the driver during the dialogue step. The driver can therefore give instructions to the autonomous driving system, which then reacts as a driver and adapts the driving state of the vehicle.

For example, the adapted driving state in the adaptation phase includes following a new route, tracking a slower vehicle or maintaining the vehicle on a passing lane.

A second aspect of the invention is an autonomous driving system for a motor vehicle implementing an autonomous driving method according to the first aspect of the invention and comprising for that a logical unit, an information unit arranged for transmit information to the driver and a control unit arranged to receive a cancellation command.

A final aspect of the invention relates to a motor vehicle comprising at least one autonomous driving system according to the second aspect of the invention and / or implementing the autonomous driving method according to the first aspect of the invention.

Other features and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the accompanying drawings, in which: - Figure 1 shows a diagram of a first part of an autonomous driving method according to the present invention, - Figure 2 shows a diagram of a second part of an autonomous driving method according to the present invention. - Figure 3 shows a driving diagram of an autonomous vehicle implementing the autonomous driving method according to the present invention.

[0016] FIG. 3 represents an automobile vehicle equipped with a driving system implementing an autonomous driving method 100 according to the present invention. The vehicle 10 circulates on a lane of traffic autonomously, that is to say that the vehicle 10 is capable of driving in the flow of traffic without intervention of the driver, who has previously indicated a desired destination.

As part of this description, the term driver applies to the person located in the motor vehicle and can take orders in case of desire or need. It is therefore a driver globally inactive when the vehicle is in autonomous driving mode.

An autonomous vehicle 10 comprises the technical components making it suitable for implementing the autonomous driving method according to the present invention. It is thus equipped with a microprocessor logic unit, a GPS and / or Glonass satellite positioning device, mapping data, radar sensors, proximity sensors and / or cameras, one or more information units for providing information to the driver and one or more control units allowing the driver to enter commands, as known from the state of the art.

A usual overshoot by an autonomous vehicle is explained with reference to Figure 1 (normal operating diagram of the lane change) and Figure 3 (schematic diagram). Initially, the autonomous vehicle 10 circulates on a taxiway 10, analyzes the environment (FIG. 1, step 1) by measuring the traffic conditions and detects a vehicle traveling at a reduced speed (FIG. 3). The autonomous vehicle then decides to change lanes in order to double the vehicle 20 and indicates to the driver his intention (Figure 1, step 2) by an information unit for example an on-screen display or an audio or voice message.

After a few seconds of waiting (X s), for example between 2 and 5 seconds (period 3), the vehicle initiates the lane change maneuver along the path A (Figure 3 and step 6, Figure 1). The vehicle 10 requires a certain time (FIG. 1, period 4) before crossing the discontinuous line 200 separating the taxiway 100 and the passing lane 300 (FIG. 3 and FIG. 1, step 7). In a step 9, the vehicle finishes the overtaking maneuver during the period 5 (FIG. 1) according to the trajectory A (FIG. 3) and accelerates in the passing lane 300 in order to pass the slower vehicle traveling in the lane of the vehicle. circulation 100 (FIG. 3 and FIG. 1, step 9).

The autonomous driving method according to the present invention allows the driver to interrupt the overtaking maneuver during periods 3 and 4 (Figure 1, step 8) by acting on a control unit. This control unit can be a joystick such as a blinker or a dedicated command, a touch screen or a voice command. If this cancellation command (step 8), that is to say the request for interruption of the overtaking maneuver occurs in the period 3 in which the vehicle has not yet started the maneuver, the vehicle does not perform no overtaking and therefore remains in the initial position, in autonomous driving on the lane 100 behind the slower vehicle 20 (Figure 3).

If the cancellation command (step 8) occurs in period 4 (Figure 1), in which the vehicle has already started the overtaking maneuver, but has not yet fully crossed the discontinuous line 200 (step 7). ), the vehicle cancels the maneuver in the position X of FIG. 3 and returns to its initial position in the taxiway 100 behind the slower vehicle 20 following a trajectory B and adjusting its speed and distance with respect to this vehicle autonomously.

Thus, the autonomous driving method according to the present invention allows the driver to intervene in autonomous driving without disconnecting the autonomous driving system, that is to say, without returning to a completely manual driving mode. .

Finally, if the cancellation command (step 8) occurs in the period 5 (FIG. 1) in which the vehicle has completely crossed the discontinuous line 200 (step 7) and is positioned in the passing lane 300, the cancellation command is not taken into account and the vehicle continues the overtaking maneuver so as not to surprise other drivers. However, the driver can resume control of the vehicle in manual mode, thereby disabling the autonomous driving system.

Referring to Figure 2, the autonomous driving system will initiate a dialogue with the driver due to the cancellation command. This dialogue is performed by a suitable interface, for example by voice synthesis or by messages on a control screen, and according to the initial cause of the lane change decision in step 1. The purpose of this step dialogue is thus to propose a new state of conduct to the driver.

For example, in Figure 2, if the cause of the decision to change lanes was to follow a route involving taking an exit lane or a motorway interchange, the autonomous driving system offers the driver a new route and / or modify his itinerary to introduce a step. If the driver gives no further indication, the autonomous driving system retries a lane change maneuver as soon as possible.

If the cause of the lane change decision was to exceed a slower vehicle as shown in Figure 3, the autonomous driving system proposes to follow the vehicle by adjusting the speed. If the driver does not validate the slower vehicle tracking, the autonomous driving system retires an overtaking maneuver as soon as possible.

Finally, if the cause of the decision to change lanes was to return to a normal lane while the vehicle was traveling on a passing lane, for example the left lane for countries where normal traffic is in the right lane, the system proposes to remain in the left lane and / or ask in how much time or kilometers it will be able to perform the folding maneuver. If the driver does not give instructions, the autonomous driving system retires a turning maneuver as soon as possible.

The driver can instruct the autonomous driving system by any type of control unit comprising in particular a touch screen, a voice command, a dedicated control stick or combination thereof. For example, several predetermined scenarios can be proposed to the driver so that it can easily instruct the autonomous driving system.

As a result of this dialogue step, the autonomous driving system adapts its driving state to the instructions given by the driver. The driver can thus adapt the autonomous driving of the vehicle to a situation not envisaged or not perceivable by the autonomous driving method for example in order to avoid back and forth between two lanes of traffic when the normal traffic lane 100 is encumbered by a large number of slow vehicles, or when the driver does not wish to follow the intended path entirely.

It will be understood that various modifications and / or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in this description without departing from the scope of the invention defined by the appended claims. In particular, reference is made to the vehicle which may include a manual cockpit or not, or be equipped with other complementary systems, for example managing the acceleration of the vehicle, braking or driving on the mountain route or city. In addition, a device for taking into account the driver's state of alertness can also be provided, for example by means of a camera or on the basis of the frequency of the driver's interactions with the vehicle. For example, the waiting time 3 between the decision of the change of lane and the completion of the change of lane, during which the vehicle has not yet made maneuver, can be adapted to the estimated vigilance of the driver.

In addition, the autonomous driving method according to the present invention can be adapted to any type of vehicle, such as an automobile, a bus or a utility vehicle. Finally, the autonomous driving method can be equipped with an artificial intelligence to search for the causes of the lane change cancellation directly by environmental analysis, without going through a dialogue stage with the driver.

Claims (6)

- »- CLAIMS An autonomous driving method for a vehicle (10), comprising: an initial step of autonomous driving (1) in a taxiway (100), a lane change decision step (2), a step information system (2) informing the driver of said lane change, • a canceling step (8) of taking into account a lane-canceling command ordered by the driver before or while performing said change of lane of track, the step of cancellation (8) of the lane change imposing on the motor vehicle to remain or return to the initial autonomous driving step (1), characterized in that it further comprises a step of dialogue so to propose to the driver a new driving state as a result of the return to the initial autonomous driving step (1) and in that it further comprises an adaptation step for adapting the driving state of the vehicle as a result of the back to the Initial step of autonomous driving (1) and / or as a result of the dialogue step. wherein the adapted driving state in the adaptation phase includes following a new route, tracking a slower vehicle or keeping the vehicle on a passing lane. 2. Autonomous driving method according to the preceding claim, characterized in that the cancellation command (8) is taken into account only if the vehicle (10) is still positioned at least partially in said lane (100). - IV " 3. autonomous driving method according to one of the preceding claims, characterized in that the driving state of the vehicle is adapted during the adaptation step as a function of a measurement of a traffic condition that led to the lane change decision. 4. Autonomous driving method according to one of the preceding claims, characterized in that the driving state of the vehicle is adapted during the adaptation step according to the instructions given by the driver during the dialogue step. 5. Autonomous driving system for a motor vehicle implementing an autonomous driving method according to any one of the preceding claims and comprising for that a logical unit, an information unit arranged to transmit information to the driver and a control unit. arranged to receive a cancellation command. 6. Motor vehicle (10) comprising at least autonomous driving system according to the preceding claim and / or in the autonomous driving is carried out by the autonomous driving method of claims 1 to 5.